Speed Adaptable Prosthetic Foot: Concept Description, Prototyping and Initial User Testing

Heimir Tryggvason, Felix Starker, Anna Lára Ármannsdóttir, Christophe Guy Lecomte, Fjóla Jónsdóttir

Rannsóknarafurð: Framlag til fræðitímaritsGreinritrýni

Útdráttur

This article presents a novel design of a prosthetic foot that features adaptable stiffness that changes according to the speed of ankle motion. The motivation is the natural graduation in stiffness of a biological ankle over a range of ambulation tasks. The device stiffness depends on rate of movement, ranging from a dissipating support at very slow walking speed, to efficient energy storage and return at normal walking speed. The objective here is to design a prosthetic foot that provides a compliant support for slow ambulation, without sacrificing the spring-like energy return beneficial in normal walking. The design is a modification of a commercially available foot and employs material properties to provide a change in stiffness. The velocity dependent properties of a non-Newtonian working fluid provide the rate adaptability. Material properties of components allow for a geometry shift that results in a coupling action, affecting the stiffness of the overall system. The function of an adaptive coupling was tested in linear motion. A prototype prosthetic foot was built, and the speed dependent stiffness measured mechanically. Furthermore, the prototype was tested by a user and body kinematics measured in gait analysis for varying walking speed, comparing the prototype to the original foot model (non-modified). Mechanical evaluation of stiffness shows increase in stiffness of about 60% over the test range and 10% increase between slow and normal walking speed in user testing.

Upprunalegt tungumálEnska
Númer greinar9249422
Síður (frá-til)2978-2986
Síðufjöldi9
FræðitímaritIEEE Transactions on Neural Systems and Rehabilitation Engineering
Bindi28
Númer tölublaðs12
DOI
ÚtgáfustaðaÚtgefið - des. 2020

Athugasemd

Funding Information:
Manuscript received June 16, 2020; revised September 30, 2020; accepted October 29, 2020. Date of publication November 5, 2020; date of current version January 29, 2021. This work was supported by the Technology Development Fund at the Icelandic Center for Research under Grant 163805-0613. (Corresponding author: Heimir Tryggvason.) Heimir Tryggvason and Fjola Jonsdottir are with the Faculty of Industrial Engineering, Mechanical Engineering and Computer Science, University of Iceland, 102 Reykjavík, Iceland (e-mail: het11@hi.is; fj@hi.is).

Publisher Copyright:
© 2001-2011 IEEE.

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